A system for determining a direction of arrival of a radio signal being emitted by a radio emitter, the system including: a single antenna configured to be moved through multiple spatial positions and configured to receive the radio signal at two or more of the multiple spatial positions; and a controller configured to determine one or more directions of arrival of the radio signal based on: a radio signal frequency; at least one residual phase difference value between at least two of two or more residual phase values each obtained based on the radio signal received by the single antenna at one of the two or more multiple spatial positions; and at least a portion of a motion data indicative of the movement of the single antenna.